NDLI: Ground experiment system for space robots based on predictive bilateral control

Content Provider	IEEE Xplore Digital Library
Author	Morikawa, H. Takanashi, N.
Copyright Year	1996
Description	Author affiliation: Functional Devices Res. Labs., NEC Corp., Kawasaki, Japan (Morikawa, H.; Takanashi, N.)
Abstract	This paper describes a ground experiment system for space robots based on an improved version of predictive bilateral control and the results of simulated space telemanipulation experiments. The predictive bilateral control provides both the predictive and virtual contact forces/torque along six degrees of freedom by a force reflected master-arm. The virtual contact forces are produced by the collision with a virtual guide model to move the slave-arm to a desired position quickly and safely. Ground simulation models can be calibrated by means of visual sensing using target marks. The simulator for previewing is designed to be reconfigurable by modularizing the basic functions. The system executes tasks including manual operations according to a program written in an interpreter language for interactive operations. Coupling experiments using ETS-VII Antenna Assembling Mechanism (AAM) and peg-in-hole tests were carried out to evaluate the system's effectiveness and the results obtained demonstrate that it is in fact effective. Currently, we are improving the system for the use in actual ETS-VII AAM experiments in space.
Starting Page	64
Ending Page	69
File Size	872914
Page Count	6
File Format	PDF
ISBN	0780329880
ISSN	10504729
DOI	10.1109/ROBOT.1996.503574
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Control systems Space technology Predictive models Active appearance model Delay effects Force control Manuals Assembly systems Robotic assembly
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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